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// Copyright (c) 2020, Viktor Larsson
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the
// names of its contributors may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef POSELIB_ALIGNMENT_H_
#define POSELIB_ALIGNMENT_H_
// Wrapped header from COLMAP:
// https://github.com/colmap/colmap/blob/dev/src/util/alignment.h
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#ifndef COLMAP_SRC_UTIL_ALIGNMENT_H_
#define COLMAP_SRC_UTIL_ALIGNMENT_H_
#include <Eigen/Core>
#ifdef _MSVC_LANG
#define CPP_VERSION _MSVC_LANG
#else
#define CPP_VERSION __cplusplus
#endif
#if !EIGEN_VERSION_AT_LEAST(3, 4, 0) || CPP_VERSION < 201703L
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/StdVector>
#include <initializer_list>
#include <memory>
#include <vector>
#ifndef EIGEN_ALIGNED_ALLOCATOR
#define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
#endif
// Equivalent to EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION but with support for
// initializer lists, which is a C++11 feature and not supported by the Eigen.
// The initializer list extension is inspired by Theia and StackOverflow code.
#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(...) \
namespace std { \
template <> \
class vector<__VA_ARGS__, std::allocator<__VA_ARGS__>> \
: public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__>> { \
typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__>> vector_base; \
\
public: \
typedef __VA_ARGS__ value_type; \
typedef vector_base::allocator_type allocator_type; \
typedef vector_base::size_type size_type; \
typedef vector_base::iterator iterator; \
explicit vector(const allocator_type &a = allocator_type()) : vector_base(a) {} \
template <typename InputIterator> \
vector(InputIterator first, InputIterator last, const allocator_type &a = allocator_type()) \
: vector_base(first, last, a) {} \
vector(const vector &c) : vector_base(c) {} \
explicit vector(size_type num, const value_type &val = value_type()) : vector_base(num, val) {} \
vector(iterator start, iterator end) : vector_base(start, end) {} \
vector &operator=(const vector &x) { \
vector_base::operator=(x); \
return *this; \
} \
vector(initializer_list<__VA_ARGS__> list) : vector_base(list.begin(), list.end()) {} \
}; \
} // namespace std
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Vector2d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Vector4d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Vector4f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix2d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix2f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix4d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix4f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Affine3d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Affine3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Quaterniond)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Quaternionf)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix<float, 3, 4>)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix<double, 3, 4>)
#define EIGEN_STL_UMAP(KEY, VALUE) \
std::unordered_map<KEY, VALUE, std::hash<KEY>, std::equal_to<KEY>, \
Eigen::aligned_allocator<std::pair<KEY const, VALUE>>>
#endif
#undef CPP_VERSION
#endif
#endif
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